A QP-based thruster-assisted walking controller, validated only in simulation, keeps the Harpy biped tracking a reference trajectory on a 30-degree inclined slope.
Computationally-Robust and Efficient Prioritized Whole-Body Con- troller with Contact Constraints,
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Quadratic Programming Optimization for Bio-Inspired Thruster-Assisted Bipedal Locomotion on Inclined Slopes
A QP-based thruster-assisted walking controller, validated only in simulation, keeps the Harpy biped tracking a reference trajectory on a 30-degree inclined slope.